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<li class="navelem"><a class="el" href="namespacelibMultiRobotPlanning.html">libMultiRobotPlanning</a></li><li class="navelem"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a></li>  </ul>
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<div class="title">libMultiRobotPlanning::Environment&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt; Class Template Reference</div>  </div>
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<p><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html" title="Environment class. ">Environment</a> class.  
 <a href="classlibMultiRobotPlanning_1_1Environment.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="environment_8hpp_source.html">environment.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ad17575c73bb1aff1aa186011d4bae2b1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#ad17575c73bb1aff1aa186011d4bae2b1">Environment</a> (size_t maxx, size_t maxy, std::unordered_set&lt; Location &gt; obstacles, std::multimap&lt; int, State &gt; dynamic_obstacles, std::vector&lt; State &gt; goals)</td></tr>
<tr class="separator:ad17575c73bb1aff1aa186011d4bae2b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aad0b1de2edf6c6f4a014e0c02feba774"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#aad0b1de2edf6c6f4a014e0c02feba774">Environment</a> (const <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> &amp;)=delete</td></tr>
<tr class="separator:aad0b1de2edf6c6f4a014e0c02feba774"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ac74e6db50c2c462190f0611bc5f49c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#a3ac74e6db50c2c462190f0611bc5f49c">operator=</a> (const <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> &amp;)=delete</td></tr>
<tr class="separator:a3ac74e6db50c2c462190f0611bc5f49c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41530a81727bcb3955820112467a4e34"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#a41530a81727bcb3955820112467a4e34">getFirstConflict</a> (const std::vector&lt; <a class="el" href="structlibMultiRobotPlanning_1_1PlanResult.html">PlanResult</a>&lt; State, Action, double &gt;&gt; &amp;solution, Conflict &amp;result)</td></tr>
<tr class="memdesc:a41530a81727bcb3955820112467a4e34"><td class="mdescLeft">&#160;</td><td class="mdescRight">High Level <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html" title="Environment class. ">Environment</a> functions.  <a href="#a41530a81727bcb3955820112467a4e34">More...</a><br /></td></tr>
<tr class="separator:a41530a81727bcb3955820112467a4e34"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a35a9dee492558a6b30f23261bbd9a550"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#a35a9dee492558a6b30f23261bbd9a550">createConstraintsFromConflict</a> (const Conflict &amp;conflict, std::map&lt; size_t, Constraints &gt; &amp;constraints)</td></tr>
<tr class="separator:a35a9dee492558a6b30f23261bbd9a550"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9972a439d882f561c0851a5009eba11"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#ae9972a439d882f561c0851a5009eba11">onExpandHighLevelNode</a> (int)</td></tr>
<tr class="separator:ae9972a439d882f561c0851a5009eba11"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6416c6401c079bb63e9c1019fa704971"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#a6416c6401c079bb63e9c1019fa704971">highLevelExpanded</a> ()</td></tr>
<tr class="separator:a6416c6401c079bb63e9c1019fa704971"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba22b21928b76318c7c41e72df252802"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#aba22b21928b76318c7c41e72df252802">setLowLevelContext</a> (size_t agentIdx, const Constraints *constraints)</td></tr>
<tr class="memdesc:aba22b21928b76318c7c41e72df252802"><td class="mdescLeft">&#160;</td><td class="mdescRight">Low Level <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html" title="Environment class. ">Environment</a> functions.  <a href="#aba22b21928b76318c7c41e72df252802">More...</a><br /></td></tr>
<tr class="separator:aba22b21928b76318c7c41e72df252802"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa699ff38af2907cd0a03e267829fb8e1"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#aa699ff38af2907cd0a03e267829fb8e1">admissibleHeuristic</a> (const State &amp;s)</td></tr>
<tr class="separator:aa699ff38af2907cd0a03e267829fb8e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a169c1f48204f9028bf287873b8d771c2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#a169c1f48204f9028bf287873b8d771c2">isSolution</a> (const State &amp;state, double gscore, std::unordered_map&lt; State, std::tuple&lt; State, Action, double, double &gt;, std::hash&lt; State &gt;&gt; &amp;_camefrom)</td></tr>
<tr class="separator:a169c1f48204f9028bf287873b8d771c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac25b780f08c32d8e8bd1563a79124689"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#ac25b780f08c32d8e8bd1563a79124689">getNeighbors</a> (const State &amp;s, Action action, std::vector&lt; <a class="el" href="structlibMultiRobotPlanning_1_1Neighbor.html">Neighbor</a>&lt; State, Action, double &gt;&gt; &amp;neighbors)</td></tr>
<tr class="separator:ac25b780f08c32d8e8bd1563a79124689"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5eab4549c789e6b01028dc3ffe2697d"><td class="memItemLeft" align="right" valign="top">State&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#ad5eab4549c789e6b01028dc3ffe2697d">getGoal</a> ()</td></tr>
<tr class="separator:ad5eab4549c789e6b01028dc3ffe2697d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb7f89fed175eb3c00a14c830d692fc6"><td class="memItemLeft" align="right" valign="top">uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#abb7f89fed175eb3c00a14c830d692fc6">calcIndex</a> (const State &amp;s)</td></tr>
<tr class="separator:abb7f89fed175eb3c00a14c830d692fc6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a987be6d79a64c4c64ad5fb84a78c9f0b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#a987be6d79a64c4c64ad5fb84a78c9f0b">onExpandLowLevelNode</a> (const State &amp;, int, int)</td></tr>
<tr class="separator:a987be6d79a64c4c64ad5fb84a78c9f0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9ca13cf9d5d315407ebd3eb4b9b4eb4c"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#a9ca13cf9d5d315407ebd3eb4b9b4eb4c">lowLevelExpanded</a> () const </td></tr>
<tr class="separator:a9ca13cf9d5d315407ebd3eb4b9b4eb4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8498845744cdc0ba1ecb1024b9145dc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html#af8498845744cdc0ba1ecb1024b9145dc">startAndGoalValid</a> (const std::vector&lt; State &gt; &amp;m_starts, const size_t iter, const int batchsize)</td></tr>
<tr class="separator:af8498845744cdc0ba1ecb1024b9145dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename Location, typename State, typename Action, typename Cost, typename Conflict, typename Constraint, typename Constraints&gt;<br />
class libMultiRobotPlanning::Environment&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;</h3>

<p><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html" title="Environment class. ">Environment</a> class. </p>
<dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">Location</td><td></td></tr>
    <tr><td class="paramname">State</td><td></td></tr>
    <tr><td class="paramname">Action</td><td></td></tr>
    <tr><td class="paramname">Cost</td><td></td></tr>
    <tr><td class="paramname">Conflict</td><td></td></tr>
    <tr><td class="paramname">Constraint</td><td></td></tr>
    <tr><td class="paramname">Constraints</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="cl_cbs_8cpp-example.html#_a8">cl_cbs.cpp</a>, and <a class="el" href="sh_astar_8cpp-example.html#_a7">sh_astar.cpp</a>.</dd>
</dl></div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="ad17575c73bb1aff1aa186011d4bae2b1"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::<a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>maxx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>maxy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::unordered_set&lt; Location &gt;&#160;</td>
          <td class="paramname"><em>obstacles</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::multimap&lt; int, State &gt;&#160;</td>
          <td class="paramname"><em>dynamic_obstacles</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; State &gt;&#160;</td>
          <td class="paramname"><em>goals</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

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</div>
<a class="anchor" id="aad0b1de2edf6c6f4a014e0c02feba774"></a>
<div class="memitem">
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<div class="memtemplate">
template&lt;typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::<a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a> </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt; &amp;&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">delete</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="aa699ff38af2907cd0a03e267829fb8e1"></a>
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<div class="memtemplate">
template&lt;typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::admissibleHeuristic </td>
          <td>(</td>
          <td class="paramtype">const State &amp;&#160;</td>
          <td class="paramname"><em>s</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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template&lt;typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">uint64_t <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::calcIndex </td>
          <td>(</td>
          <td class="paramtype">const State &amp;&#160;</td>
          <td class="paramname"><em>s</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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template&lt;typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::createConstraintsFromConflict </td>
          <td>(</td>
          <td class="paramtype">const Conflict &amp;&#160;</td>
          <td class="paramname"><em>conflict</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::map&lt; size_t, Constraints &gt; &amp;&#160;</td>
          <td class="paramname"><em>constraints</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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</div><div class="memdoc">

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</div>
<a class="anchor" id="a41530a81727bcb3955820112467a4e34"></a>
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template&lt;typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints &gt; </div>
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  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::getFirstConflict </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="structlibMultiRobotPlanning_1_1PlanResult.html">PlanResult</a>&lt; State, Action, double &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>solution</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Conflict &amp;&#160;</td>
          <td class="paramname"><em>result</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>High Level <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html" title="Environment class. ">Environment</a> functions. </p>

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template&lt;typename Location , typename State , typename Action , typename Cost , typename Conflict , typename Constraint , typename Constraints &gt; </div>
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          <td class="memname">State <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::getGoal </td>
          <td>(</td>
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          <td class="memname">void <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::getNeighbors </td>
          <td>(</td>
          <td class="paramtype">const State &amp;&#160;</td>
          <td class="paramname"><em>s</em>, </td>
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          <td class="paramtype">Action&#160;</td>
          <td class="paramname"><em>action</em>, </td>
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          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structlibMultiRobotPlanning_1_1Neighbor.html">Neighbor</a>&lt; State, Action, double &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>neighbors</em>&#160;</td>
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          <td class="memname">int <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::highLevelExpanded </td>
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          <td></td>
          <td class="paramtype">std::unordered_map&lt; State, std::tuple&lt; State, Action, double, double &gt;, std::hash&lt; State &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>_camefrom</em>&#160;</td>
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          <td class="memname">int <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::lowLevelExpanded </td>
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          <td class="memname">void <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::onExpandHighLevelNode </td>
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          <td class="memname">void <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::onExpandLowLevelNode </td>
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          <td class="paramname">, </td>
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          <td class="memname"><a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">Environment</a>&amp; <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::operator= </td>
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          <td class="memname">void <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html">libMultiRobotPlanning::Environment</a>&lt; Location, State, Action, Cost, Conflict, Constraint, Constraints &gt;::setLowLevelContext </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>agentIdx</em>, </td>
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          <td class="paramtype">const Constraints *&#160;</td>
          <td class="paramname"><em>constraints</em>&#160;</td>
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<p>Low Level <a class="el" href="classlibMultiRobotPlanning_1_1Environment.html" title="Environment class. ">Environment</a> functions. </p>

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          <td>(</td>
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          <td class="paramname"><em>m_starts</em>, </td>
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          <td class="paramname"><em>iter</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>batchsize</em>&#160;</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/<a class="el" href="environment_8hpp_source.html">environment.hpp</a></li>
</ul>
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